2-Dof multi-link wrist study model
grabcad
A functional study model of an intriguing 2-DoF, singularity-free, wrist joint as seen in a brief Hackaday article about a dextrous robotic arm from Korea.https://hackaday.com/2019/10/20/humanoid-robot-has-joints-that-inspire/The article inspired me to create this interpretation. It functions beautifully.I printed it in three colors for visual contrast;Black, Orange, & SilverThe mechanism has 2 degrees of freedom: pitch & roll.It stands 6" tall. The end plates are 3.5" in diameter. It uses inexpensive stainless steel dowel pins at all joints. The pins are a light interference fit and are not otherwise retained with clip-rings, etc. It is screwed on onto a 6" x 6" wooden base from an office supply store. Mounting holes are provided for in the model.Files include: IGES, STL, 3mfMaterials are PETG & PLA--I hope you enjoy this model as much as I do. I keep it on display as a conversation piece :)
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